无线传感器网络中基于测距的节点定位算法研究
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摘要
无线传感器网络是近年来最有发展前景的技术之一,它集中了微机电技术、嵌入式计算技术、分布式信息处理技术和无线通信技术,是一种全新的信息获取和处理模式。节点定位、拓扑控制、路由协议等是无线传感器网络研究中的几个基本问题,其中节点定位问题是无线传感器网络进行目标识别、监控、跟踪等众多应用的前提,而且无线传感器网络的某些路由机制、覆盖信息、负载均衡和拓扑控制等都依赖于节点位置信息。因此,针对无线传感器网络节点自身定位技术的研究具有重要的理论与实际意义,是无线传感器网络研究中的热点问题之一。
由于传感器节点受体积、成本、能量等因素的限制,而且通常工作在人类难以或不宜接近的场合,因此传统的无线网络定位方式有许多不适合无线传感器网络的地方,需要专门设计适合无线传感器网络的定位技术。本文在阐述了无线传感器网络的体系结构、自身特点和应用领域的基础上,对无线传感器网络的定位技术展开了深入分析。
通过对现有定位算法的总结,综合无线传感器网络的特点和定位需求,本文提出了一种基于RSSI测距的节点定位算法——LABOR,LABOR算法引入高级节点担任信标节点,它们具有充足的能量及较大的发射功率,其无线射程可以覆盖整个网络。LABOR算法改变了以往算法中节点被动接收信标节点周期性发送的定位信息的方法,而是由那些有定位需要的节点主动发出请求,信标节点协同对定位请求进行处理,最后节点采用算法引入的Monte Carlo方法对位置进行计算。由于只对有定位需求的部分节点进行定位,简单易实现,通信次数少,从总体上降低了网络中普通节点的能量消耗,延长了网络生存周期。此外,本文提出的算法通过设定测距修正权值、优选信标节点等措施,较以往的算法提高了定位精度。
最后,本文针对不同的网络部署情况在MATLAB中对LABOR算法进行了仿真实验。实验结果表明,LABOR算法是一个稳健的定位算法,适合随机布置的网络,具有很强的扩展性。
Wireless Sensor Networks (WSN) is becoming one of the most promising technologies in recent years. It is a new pattern of information gathering and processing which integrates technologies of micro-electro-mechanism, embedded computing, distributed information processing and wireless communication. Node localization, topology control, routing protocols are some of the fundamental problems of WSN. Among these problems, node localization has been focused as a basic factor for that it is the precondition of many applications of WSN, such as target identification, surveillance and tracking. Furthermore, some routing schemes, information of network coverage, load balance, topology control of WSN depend on the location information of the nodes in networks. So, the study for node localization of WSN possesses great significance in the theory and practice, and it will become an important part in the research area.
Since the nodes are restricted by size, cost and energy, and WSN always works in the environment which is hard to be accessed, the traditional localization methods of wireless networks can't fit the WSN well. The special localization technologies should be designed for WSN. This paper expounds the system architecture, features and applied fields of WSN. Based on this, it thoroughly analyzes the localization technologies of WSN.
As summarizes the existing localization algorithms and compounds the features of WSN and localization request, this paper proposes a localization algorithm based on RSSI (LABOR). The algorithm adds advanced nodes to be beacon nodes in order to assist in localization. The advanced nodes have enough energy and large radio power. Their communication fields can ranges the whole WSN. LABOR changes the method that the nodes receive localization information passively. In this algorithm, nodes which need to be localized send requests actively. The beacon nodes process the requests cooperatively. At last, nodes use Monte Carlo method to estimate their positions. Because of just localizing some nodes which have requests, the algorithm is easy to use. It has fewer communication packages, so it lessens the energy consumption of the whole nodes and extends the living life of WSN. Furthermore, the algorithm in this paper raises localization accuracy by setting range emendation weight and select beacon nodes optimizingly.
In the end, this paper simulates the algorithm in MATLAB for different network deployments. The simulation result shows that LABOR is a robust algorithm. It is suitable and extendable for randomly-deployed WSN.
由于传感器节点受体积、成本、能量等因素的限制,而且通常工作在人类难以或不宜接近的场合,因此传统的无线网络定位方式有许多不适合无线传感器网络的地方,需要专门设计适合无线传感器网络的定位技术。本文在阐述了无线传感器网络的体系结构、自身特点和应用领域的基础上,对无线传感器网络的定位技术展开了深入分析。
通过对现有定位算法的总结,综合无线传感器网络的特点和定位需求,本文提出了一种基于RSSI测距的节点定位算法——LABOR,LABOR算法引入高级节点担任信标节点,它们具有充足的能量及较大的发射功率,其无线射程可以覆盖整个网络。LABOR算法改变了以往算法中节点被动接收信标节点周期性发送的定位信息的方法,而是由那些有定位需要的节点主动发出请求,信标节点协同对定位请求进行处理,最后节点采用算法引入的Monte Carlo方法对位置进行计算。由于只对有定位需求的部分节点进行定位,简单易实现,通信次数少,从总体上降低了网络中普通节点的能量消耗,延长了网络生存周期。此外,本文提出的算法通过设定测距修正权值、优选信标节点等措施,较以往的算法提高了定位精度。
最后,本文针对不同的网络部署情况在MATLAB中对LABOR算法进行了仿真实验。实验结果表明,LABOR算法是一个稳健的定位算法,适合随机布置的网络,具有很强的扩展性。
Wireless Sensor Networks (WSN) is becoming one of the most promising technologies in recent years. It is a new pattern of information gathering and processing which integrates technologies of micro-electro-mechanism, embedded computing, distributed information processing and wireless communication. Node localization, topology control, routing protocols are some of the fundamental problems of WSN. Among these problems, node localization has been focused as a basic factor for that it is the precondition of many applications of WSN, such as target identification, surveillance and tracking. Furthermore, some routing schemes, information of network coverage, load balance, topology control of WSN depend on the location information of the nodes in networks. So, the study for node localization of WSN possesses great significance in the theory and practice, and it will become an important part in the research area.
Since the nodes are restricted by size, cost and energy, and WSN always works in the environment which is hard to be accessed, the traditional localization methods of wireless networks can't fit the WSN well. The special localization technologies should be designed for WSN. This paper expounds the system architecture, features and applied fields of WSN. Based on this, it thoroughly analyzes the localization technologies of WSN.
As summarizes the existing localization algorithms and compounds the features of WSN and localization request, this paper proposes a localization algorithm based on RSSI (LABOR). The algorithm adds advanced nodes to be beacon nodes in order to assist in localization. The advanced nodes have enough energy and large radio power. Their communication fields can ranges the whole WSN. LABOR changes the method that the nodes receive localization information passively. In this algorithm, nodes which need to be localized send requests actively. The beacon nodes process the requests cooperatively. At last, nodes use Monte Carlo method to estimate their positions. Because of just localizing some nodes which have requests, the algorithm is easy to use. It has fewer communication packages, so it lessens the energy consumption of the whole nodes and extends the living life of WSN. Furthermore, the algorithm in this paper raises localization accuracy by setting range emendation weight and select beacon nodes optimizingly.
In the end, this paper simulates the algorithm in MATLAB for different network deployments. The simulation result shows that LABOR is a robust algorithm. It is suitable and extendable for randomly-deployed WSN.
引文
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[2]Bulusun,etc.Density-adaptive beacon placement algorithms for localization in Ad hoc wireless networks.IEEE Infocom 2002.New York,USA,2002.
[3]Chris Savarese,Jan M.Rabaey,Jan Beutel.Locationing in distributed ad-hoc wireless sensor network.In:Proceedings of IEEE International Conference on Acostics,Speech,and Signal(ICASSP '01),Salt Lake,USA:IEEE Computer Society,2001.5,vol.4:2037-2040.
[4]Seapahn Meguerdichian,Farinaz Koushanfar,Miodrag Potkonjak,and Mani B Srivastava.Coverage problems in wireless ad-hoc sensor networks.In:Proceedings of Twentieth Annual Joint Conference of the IEEE Computer and Communications Societies(INFOCOM 2001),Anchorage,Alaska,USA:IEEE Computer and Communications Societies,2001.4,vol.3:1380-1387.
[5]Nirupama Bulusu,John Heidemann,Deborah Estrin.Adaptive beacon placement.In:Proceedings of the 21st International Conference on Distributed Computing Systems,Phoenix,AZ,USA:IEEE Computer Society,2001.4:489-498.
[6]陈帅,钟先信,刘积学,石军锋,邵小良.无线传感器网络的新进展与应用.压电与声光,2006,28(3):297-299.
[7]B.H.Wellenhff,H.Lichtenegger,J.Collins.Global Positions System:Theory and Practice,Fourth Edition.Springer Verlag,1997.
[8]J.J.Caffery Jr.A new approach to the geometry of TOA location,In:Proceedings of IEEE Vehicular Technology Conference,Boston,MA,2000:1943-1950.
[9]P.H.Dana,Global Positioning System Overview.Available from < http://www.colorado.edu/geography/gcraft/notes/gps/gps.html>,2000.
[10]孙利民,李建中,陈渝,朱红松.无线传感器网络.北京:清华大学出版社, 2005:135-156.
[11]Priyantha N B,Chakraborty A,Balakrishnan H.The Cricket Location-Support System.In:Proceedings of 6th ACM International Conference on Mobile Computing and Networking(ACM MOBICOM),Boston,MA,USA.ACM Press.2000.8:32-43.
[12]Mainwaring A.Polastre J,Szewczyk R,et al.Wireless sensor networks for habitat monitoring[A].ACM WSNA '02[C].Atlanta,Georgia.2002.9.
[13]Cerpa A,Elson J,Hamilton M.et al.Habitat monitoring:application driver for wireless communications technology[A].ACM SIGCOMM'2000[C].Costa Rica,2001.4.
[14]Steere David C,Baptists Antonio,et al.Research challenges in environmental observation and forecasting systems[A].Proc.6 ACM/IEEE MobiCom[C].2000.8:292-299.
[15]Bonnet P,Gehke J,et al.Querying the Physical world[J].IEEE Personal Communications,2000(10):10-15.
[16]Odyssey.MIT Sea Grant's AUV Lab,http://auvlab.mit.edu/
[17]Heidemann J,Silva F,Intanagonwiwat C.Building efficient wireless sensor networks with low level naming.In:Marzullo K,ed.Proceedings of the 18th ACM Symposium on Operating System Principles.New York:ACM Press,2001:146-159.
[18]Guibas LJ.Sensing,tracking,and reasoning with relations.IEEE Signal Processing Magazine,2002,19(2):73-85.
[19]Rabaey M J,Ammer M,Silva LJ,et al.PicoRadio supports ad hoc ultra-low power wireless networking[J].IEEE Computer Magazine,2000,33(7):42-48.
[20]Pottie J G,Kaiser J W.Wireless integrated network sensors[A].Proc of Communications of the ACM[C].New York,USA,2000:551-558.
[21]Warneke B,Last M,Liebowitz B,et al.Smart dust:communicating with a cubic-millimeter computer[J].IEEE Computer,2001,34(1):44-51.
[22]Yew.SCADDS:Scalable Coordination architectures for deeply distributed systems[EB/OL],http://www.isi.edu/scadds,2002.
[23]Akyildiz I F,Su W,Sankarasubramaniam Y.A survey on sensor networks[J].IEEE Communications Magazine,2002,40(8):102-114.
[24]任丰原,黄海宁,林闯.无线传感器网络[J],软件学报,2003,14(07):1282-1291.
[25]马祖长,孙怡宁,梅涛.无线传感器网络综述[J].通信学报,2004,25(4):114-124.
[26]David Culler,Deborab Estrin,Mani Srivastava.Overview of Sensor Network[J].IEEE Computer,2004.8,37(8):41-49.
[27]Ian F Akyildiz,Ismail H Kasimoglu.Wireless sensor and actor networks:research challenges[J].Ad Hoc Networks,2004.2:351-367.
[28]J Rabaey.Data link layer design for wireless sensor networks[C].Communications for Network-centric Operations,Creating the Information Force,Washington,2001.
[29]Steve Schaffer.Sensor Webs.http://sensorwebs.jpl.nasa.gov/,2007-06-28.
[30]王福豹,史龙,任丰原.无线传感器网络中的自身定位系统和算法[J].软件学报,2005,16(5):857-868.
[31]Koen Langendoen and Niels Reijers.Distributed localization in wireless sensor networks:a quantitative comparison.Computer Networks,2003(43):499-518.
[32]Andreas Savvides,Heemin Park,and Mani B.Srivastava.The bits and flops of the n-hop multilateration primitive for node localization problems.In:Proc 1st ACM Int'l Workshop on Wireless Sensor Networks and Application,Atlanta,GA,2002.9:112-121.
[33]C.Savarese,K.Langendoen,and J.Rabaey.Robust positioning algorithms for distributed ad-hoc wireless sensor networks.In USENIX Technical Annual Conference,Monterey,CA,2002:317-328.
[34]S.Capkun,M.Hamdi,J.P.Hubaux.GPS-free Positioning in mobile ad hoc networks.Cluster Computing,2002.5:157-167.
[35]D.Niculescu,B.Nath.Localized positioning in ad hoc networks.In:Proc.of the 1st IEEE Int'l Workshop on Sensor Network Protocols and Applications.Anchorage:IEEE Communications Societies,2003:42-50.
[36]Y. Shang, W. Ruml, Y. Zhang, MPJ. Fromherz. Localization from mere connectivity. In: Proc of the 4th ACM Int'l Symp. on Mobile Ad Hoc Networking & Computing. 2003: 201-212.
[37]Ruywant, Alldy Hopper, Veronica Falcao, and Jon Gibbons. The active badge location system. ACM Transactions on Information Systems. 1992.1, Vol.10:91-102.
[38] A. Harter, A. Hopper, P. Steggles, A. Ward, P. Webster. The anatomy of a context-aware application, In: Proc. of Mobile Computing and Networking(MobiCom'99). Seattle, Washington, USA: AM Press, 1999: 59-68.
[39]NB. Priyantha, A. Chakraborty, H. Balakrishnan. The cricket location support system. In: Proc. of the 6th Annual Int'l Conf. on Mobile Computing and Networking. 2000: 32-43.
[40]A. Sawides, CC. Han, MB. Srivastava. Dynamic fine-grained localization in ad-hoc networks of sensors. In: Proc. of the 7th Annual Int'l Conf. on Mobile Computing and Networking. 2001: 166-179.
[41]L. Doherty, KSJ. Pister, LE. Ghaoui. Convex position estimation in wireless sensor networks. In: Proc. of the IEEE INFOCOM 2001. Vol.3, IEEE Computer and Communications Societies. 2001: 1655-1663.
[42]NB. Priyantha, H. Baakrishnan, E. Demaine, S. Teller. Anchor-free distributed localization in sensor networks. Tech Report #892. Conference on Embedded Networked Sensor Systems(SenSys'03), 2003.
[43]D. Niculescu, B. Nath. DV based positioning in ad hoc networks. Journal of Telecommunication Systems. 2003.22(1/4): 267-280.
[44]T. He, CD. Huang, BM. Blum, JA. Stankovic, T. Abdelzaher. Range-free localization schemes for large scale sensor networks. In ACM MobiCom'03, San Diego, California, USA, 2003.
[45]N. Bulusu, J. Heidemann, D. Estrin. GPS-less low cost outdoor localization for very small devices. Tech.Rep.00-279, Computer Science Department, University of Southern California, 2000.
[46]Nagpal R. Organizing a global coordinate system from local information on an amorphous computer:[Technical Report 1666].MIT AI Lab,1999.
[47]Paramvir Bahl,Venhata N.Padmanahhan.RADAR:An in-building RF-based user location and tracking system.In:Proc.of Infocom'2000,Tel.Aviv,Israel:IEEE Computer and Communications Societies,2000.3,vol.2:775-784.
[48]Harter A,Jones A,Hooper A.A new location technique for the active office.IEEE Personal Communications,1997,4(5):42-47.
[49]Bulusu N,Estrin D,Heidemann J.Tradeoffs in.location support systems:The case for quality-expressive location models for applications.In:Proc of the Ubicomp 2001 Workshop on Location Modeling for Applications.Atlanta,2001:7-12.
[50]Thrun S,Fox D,Burgard W,et al.Robust Monte Carlo localization for mobile robots[J].Artificial Intelligence,2001,121(1):99-141.
[51]Doucet A,Godsill S,Andrieu C.On Sequential Monte Carlo sampling methods for Bayesian filtering[J].Statistics and Computing,2000,10(3):197-208.
[2]Bulusun,etc.Density-adaptive beacon placement algorithms for localization in Ad hoc wireless networks.IEEE Infocom 2002.New York,USA,2002.
[3]Chris Savarese,Jan M.Rabaey,Jan Beutel.Locationing in distributed ad-hoc wireless sensor network.In:Proceedings of IEEE International Conference on Acostics,Speech,and Signal(ICASSP '01),Salt Lake,USA:IEEE Computer Society,2001.5,vol.4:2037-2040.
[4]Seapahn Meguerdichian,Farinaz Koushanfar,Miodrag Potkonjak,and Mani B Srivastava.Coverage problems in wireless ad-hoc sensor networks.In:Proceedings of Twentieth Annual Joint Conference of the IEEE Computer and Communications Societies(INFOCOM 2001),Anchorage,Alaska,USA:IEEE Computer and Communications Societies,2001.4,vol.3:1380-1387.
[5]Nirupama Bulusu,John Heidemann,Deborah Estrin.Adaptive beacon placement.In:Proceedings of the 21st International Conference on Distributed Computing Systems,Phoenix,AZ,USA:IEEE Computer Society,2001.4:489-498.
[6]陈帅,钟先信,刘积学,石军锋,邵小良.无线传感器网络的新进展与应用.压电与声光,2006,28(3):297-299.
[7]B.H.Wellenhff,H.Lichtenegger,J.Collins.Global Positions System:Theory and Practice,Fourth Edition.Springer Verlag,1997.
[8]J.J.Caffery Jr.A new approach to the geometry of TOA location,In:Proceedings of IEEE Vehicular Technology Conference,Boston,MA,2000:1943-1950.
[9]P.H.Dana,Global Positioning System Overview.Available from < http://www.colorado.edu/geography/gcraft/notes/gps/gps.html>,2000.
[10]孙利民,李建中,陈渝,朱红松.无线传感器网络.北京:清华大学出版社, 2005:135-156.
[11]Priyantha N B,Chakraborty A,Balakrishnan H.The Cricket Location-Support System.In:Proceedings of 6th ACM International Conference on Mobile Computing and Networking(ACM MOBICOM),Boston,MA,USA.ACM Press.2000.8:32-43.
[12]Mainwaring A.Polastre J,Szewczyk R,et al.Wireless sensor networks for habitat monitoring[A].ACM WSNA '02[C].Atlanta,Georgia.2002.9.
[13]Cerpa A,Elson J,Hamilton M.et al.Habitat monitoring:application driver for wireless communications technology[A].ACM SIGCOMM'2000[C].Costa Rica,2001.4.
[14]Steere David C,Baptists Antonio,et al.Research challenges in environmental observation and forecasting systems[A].Proc.6 ACM/IEEE MobiCom[C].2000.8:292-299.
[15]Bonnet P,Gehke J,et al.Querying the Physical world[J].IEEE Personal Communications,2000(10):10-15.
[16]Odyssey.MIT Sea Grant's AUV Lab,http://auvlab.mit.edu/
[17]Heidemann J,Silva F,Intanagonwiwat C.Building efficient wireless sensor networks with low level naming.In:Marzullo K,ed.Proceedings of the 18th ACM Symposium on Operating System Principles.New York:ACM Press,2001:146-159.
[18]Guibas LJ.Sensing,tracking,and reasoning with relations.IEEE Signal Processing Magazine,2002,19(2):73-85.
[19]Rabaey M J,Ammer M,Silva LJ,et al.PicoRadio supports ad hoc ultra-low power wireless networking[J].IEEE Computer Magazine,2000,33(7):42-48.
[20]Pottie J G,Kaiser J W.Wireless integrated network sensors[A].Proc of Communications of the ACM[C].New York,USA,2000:551-558.
[21]Warneke B,Last M,Liebowitz B,et al.Smart dust:communicating with a cubic-millimeter computer[J].IEEE Computer,2001,34(1):44-51.
[22]Yew.SCADDS:Scalable Coordination architectures for deeply distributed systems[EB/OL],http://www.isi.edu/scadds,2002.
[23]Akyildiz I F,Su W,Sankarasubramaniam Y.A survey on sensor networks[J].IEEE Communications Magazine,2002,40(8):102-114.
[24]任丰原,黄海宁,林闯.无线传感器网络[J],软件学报,2003,14(07):1282-1291.
[25]马祖长,孙怡宁,梅涛.无线传感器网络综述[J].通信学报,2004,25(4):114-124.
[26]David Culler,Deborab Estrin,Mani Srivastava.Overview of Sensor Network[J].IEEE Computer,2004.8,37(8):41-49.
[27]Ian F Akyildiz,Ismail H Kasimoglu.Wireless sensor and actor networks:research challenges[J].Ad Hoc Networks,2004.2:351-367.
[28]J Rabaey.Data link layer design for wireless sensor networks[C].Communications for Network-centric Operations,Creating the Information Force,Washington,2001.
[29]Steve Schaffer.Sensor Webs.http://sensorwebs.jpl.nasa.gov/,2007-06-28.
[30]王福豹,史龙,任丰原.无线传感器网络中的自身定位系统和算法[J].软件学报,2005,16(5):857-868.
[31]Koen Langendoen and Niels Reijers.Distributed localization in wireless sensor networks:a quantitative comparison.Computer Networks,2003(43):499-518.
[32]Andreas Savvides,Heemin Park,and Mani B.Srivastava.The bits and flops of the n-hop multilateration primitive for node localization problems.In:Proc 1st ACM Int'l Workshop on Wireless Sensor Networks and Application,Atlanta,GA,2002.9:112-121.
[33]C.Savarese,K.Langendoen,and J.Rabaey.Robust positioning algorithms for distributed ad-hoc wireless sensor networks.In USENIX Technical Annual Conference,Monterey,CA,2002:317-328.
[34]S.Capkun,M.Hamdi,J.P.Hubaux.GPS-free Positioning in mobile ad hoc networks.Cluster Computing,2002.5:157-167.
[35]D.Niculescu,B.Nath.Localized positioning in ad hoc networks.In:Proc.of the 1st IEEE Int'l Workshop on Sensor Network Protocols and Applications.Anchorage:IEEE Communications Societies,2003:42-50.
[36]Y. Shang, W. Ruml, Y. Zhang, MPJ. Fromherz. Localization from mere connectivity. In: Proc of the 4th ACM Int'l Symp. on Mobile Ad Hoc Networking & Computing. 2003: 201-212.
[37]Ruywant, Alldy Hopper, Veronica Falcao, and Jon Gibbons. The active badge location system. ACM Transactions on Information Systems. 1992.1, Vol.10:91-102.
[38] A. Harter, A. Hopper, P. Steggles, A. Ward, P. Webster. The anatomy of a context-aware application, In: Proc. of Mobile Computing and Networking(MobiCom'99). Seattle, Washington, USA: AM Press, 1999: 59-68.
[39]NB. Priyantha, A. Chakraborty, H. Balakrishnan. The cricket location support system. In: Proc. of the 6th Annual Int'l Conf. on Mobile Computing and Networking. 2000: 32-43.
[40]A. Sawides, CC. Han, MB. Srivastava. Dynamic fine-grained localization in ad-hoc networks of sensors. In: Proc. of the 7th Annual Int'l Conf. on Mobile Computing and Networking. 2001: 166-179.
[41]L. Doherty, KSJ. Pister, LE. Ghaoui. Convex position estimation in wireless sensor networks. In: Proc. of the IEEE INFOCOM 2001. Vol.3, IEEE Computer and Communications Societies. 2001: 1655-1663.
[42]NB. Priyantha, H. Baakrishnan, E. Demaine, S. Teller. Anchor-free distributed localization in sensor networks. Tech Report #892. Conference on Embedded Networked Sensor Systems(SenSys'03), 2003.
[43]D. Niculescu, B. Nath. DV based positioning in ad hoc networks. Journal of Telecommunication Systems. 2003.22(1/4): 267-280.
[44]T. He, CD. Huang, BM. Blum, JA. Stankovic, T. Abdelzaher. Range-free localization schemes for large scale sensor networks. In ACM MobiCom'03, San Diego, California, USA, 2003.
[45]N. Bulusu, J. Heidemann, D. Estrin. GPS-less low cost outdoor localization for very small devices. Tech.Rep.00-279, Computer Science Department, University of Southern California, 2000.
[46]Nagpal R. Organizing a global coordinate system from local information on an amorphous computer:[Technical Report 1666].MIT AI Lab,1999.
[47]Paramvir Bahl,Venhata N.Padmanahhan.RADAR:An in-building RF-based user location and tracking system.In:Proc.of Infocom'2000,Tel.Aviv,Israel:IEEE Computer and Communications Societies,2000.3,vol.2:775-784.
[48]Harter A,Jones A,Hooper A.A new location technique for the active office.IEEE Personal Communications,1997,4(5):42-47.
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